Well I completed the gear box for the ankle. I used 22 gauge sheet metal for the box. It houses two gears, the first is a 30T/10T gear that drives a 50T gear. I used a 3V moter with a worm gear as the power plant. Im estimating that I will need about a 1/4" of movement to balance the weight as the biped walks, but we'll see. One problem that I can already see is the size of the gearbox assembly. It is larger then what I had in mind, but I feel that I had to make it that size to achieve the gear reduction/torque that will be needed to move the weight of the bot. I was surprised at how quickly I was able to fabricate the box, only about 2 1/2 hours from start to finish. It used to take me about 3 1/2 to 5 hours to complete a gear box. I have also noticed that my accuracy is much better. Practice makes perfect. Thanks Goodrobot for the certification, it's appreciated. Well I am up pretty late so I am going to shut it down and recharge.